OpenRaiser/Intern-Atlas huggingface dataset:
Hypergraph Partitioning using Tensor Eigenvalue Decomposition
Venue: arXiv cs.LG 2020
Year: 2020

Hypergraphs have gained increasing attention in the machine learning community lately due to their superiority over graphs in capturing super-dyadic interactions among entities. In this work, we propose a novel approach for the partitioning of k-uniform hypergraphs. Most of the existing methods work by reducing the hypergraph to a graph followed by applying standard graph partitioning algorithms. The reduction step restricts the algorithms to capturing only some weighted pairwise interactions and hence loses essential information about the original hypergraph. We overcome this issue by utilizing the tensor-based representation of hypergraphs, which enables us to capture actual super-dyadic interactions. We prove that the hypergraph to graph reduction is a special case of tensor contraction. We extend the notion of minimum ratio-cut and normalized-cut from graphs to hypergraphs and show the relaxed optimization problem is equivalent to tensor eigenvalue decomposition. This novel formulation also enables us to capture different ways of cutting a hyperedge, unlike the existing reduction approaches. We propose a hypergraph partitioning algorithm inspired from spectral graph theory that can accommodate this notion of hyperedge cuts. We also derive a tighter upper bound on the minimum positive eigenvalue of even-order hypergraph Laplacian tensor in terms of its conductance, which is utilized in the partitioning algorithm to approximate the normalized cut. The efficacy of the proposed method is demonstrated numerically on simple hypergraphs. We also show improvement for the min-cut solution on 2-uniform hypergraphs (graphs) over the standard spectral partitioning algorithm.
Time-Efficient Mars Exploration of Simultaneous Coverage and Charging with Multiple Drones
Venue: arXiv cs.RO 2020
Year: 2020

This paper presents a time-efficient scheme for Mars exploration by the cooperation of multiple drones and a rover. To maximize effective coverage of the Mars surface in the long run, a comprehensive framework has been developed with joint consideration for limited energy, sensor model, communication range and safety radius, which we call TIME-SC2 (TIme-efficient Mars Exploration of Simultaneous Coverage and Charging). First, we propose a multi-drone coverage control algorithm by leveraging emerging deep reinforcement learning and design a novel information map to represent dynamic system states. Second, we propose a near-optimal charging scheduling algorithm to navigate each drone to an individual charging slot, and we have proven that there always exists feasible solutions. The attractiveness of this framework not only resides on its ability to maximize exploration efficiency, but also on its high autonomy that has greatly reduced the non-exploring time. Extensive simulations have been conducted to demonstrate the remarkable performance of TIME-SC2 in terms of time-efficiency, adaptivity and flexibility.
Improved hierarchical role based access control model for cloud computing
Venue: arXiv cs.CR 2020
Year: 2020

Cloud computing is considered as the one of the most dominant paradigm in field of information technology which offers on demand cost effective services such as Software as a service (SAAS), Infrastructure as a service (IAAS) and Platform as a service (PAAS).Promising all these services as it is, this cloud computing paradigm still associates number of challenges such as data security, abuse of cloud services, malicious insider and cyber-attacks. Among all these security requirements of cloud computing access control is the one of the fundamental requirement in order to avoid unauthorized access to a system and organizational assets. Main purpose of this research is to review the existing methods of cloud access control models and their variants pros and cons and to identify further related research directions for developing an improved access control model for public cloud data storage. We have presented detailed access control requirement analysis for cloud computing and have identified important gaps, which are not fulfilled by conventional access control models. As the outcome of the study we have come up with an improved access control model with hybrid cryptographic schema and hybrid cloud architecture and practical implementation of it. We have tested our model for security implications, performance, functionality and data integrity to prove the validity. We have used AES and RSA cryptographic algorithms to implement the cryptographic schema and used public and private cloud to enforce our access control security and reliability.By validating and testing we have proved that our model can withstand against most of the cyber attacks in real cloud environment. Hence it has improved capabilities compared with other previous access control models that we have reviewed through literature.
Indoor Positioning System based on Visible Light Communication for Mobile Robot in Nuclear Power Plant
Venue: arXiv cs.RO 2020
Year: 2020

Visible light positioning (VLP) is widely believed to be a cost-effective answer to the growing demanded for robot indoor positioning. Considering that some extreme environments require robot to be equipped with a precise and radiation-resistance indoor positioning system for doing difficult work, a novel VLP system with high accuracy is proposed to realize the long-playing inspection and intervention under radiation environment. The proposed system with sufficient radiation-tolerance is critical for operational inspection, maintenance and intervention tasks in nuclear facilities. Firstly, we designed intelligent LED lamp with visible light communication (VLC) function to dynamically create the indoor GPS tracking system. By installing the proposed lamps that replace standard lighting in key locations in the nuclear power plant, the proposed system can strengthen the safety of mobile robot and help for efficient inspection in the large-scale field. Secondly, in order to enhance the radiation-tolerance and multi-scenario of the proposed system, we proposed a shielding protection method for the camera vertically installed on the robot, which ensures that the image elements of the camera namely the captured VLP information is not affected by radiation. Besides, with the optimized visible light positioning algorithm based on dispersion calibration method, the proposed VLP system can achieve an average positioning accuracy of 0.82cm and ensure that 90% positioning errors are less than 1.417cm. Therefore, the proposed system not only has sufficient radiation-tolerance but achieve state-of-the-art positioning accuracy in the visible light positioning field.
Manual-Label Free 3D Detection via An Open-Source Simulator
Venue: arXiv cs.CV 2020
Year: 2020

LiDAR based 3D object detectors typically need a large amount of detailed-labeled point cloud data for training, but these detailed labels are commonly expensive to acquire. In this paper, we propose a manual-label free 3D detection algorithm that leverages the CARLA simulator to generate a large amount of self-labeled training samples and introduces a novel Domain Adaptive VoxelNet (DA-VoxelNet) that can cross the distribution gap from the synthetic data to the real scenario. The self-labeled training samples are generated by a set of high quality 3D models embedded in a CARLA simulator and a proposed LiDAR-guided sampling algorithm. Then a DA-VoxelNet that integrates both a sample-level DA module and an anchor-level DA module is proposed to enable the detector trained by the synthetic data to adapt to real scenario. Experimental results show that the proposed unsupervised DA 3D detector on KITTI evaluation set can achieve 76.66% and 56.64% mAP on BEV mode and 3D mode respectively. The results reveal a promising perspective of training a LIDAR-based 3D detector without any hand-tagged label.
WikiAsp: A Dataset for Multi-domain Aspect-based Summarization
Venue: arXiv cs.CL 2020
Year: 2020

Aspect-based summarization is the task of generating focused summaries based on specific points of interest. Such summaries aid efficient analysis of text, such as quickly understanding reviews or opinions from different angles. However, due to large differences in the type of aspects for different domains (e.g., sentiment, product features), the development of previous models has tended to be domain-specific. In this paper, we propose WikiAsp, a large-scale dataset for multi-domain aspect-based summarization that attempts to spur research in the direction of open-domain aspect-based summarization. Specifically, we build the dataset using Wikipedia articles from 20 different domains, using the section titles and boundaries of each article as a proxy for aspect annotation. We propose several straightforward baseline models for this task and conduct experiments on the dataset. Results highlight key challenges that existing summarization models face in this setting, such as proper pronoun handling of quoted sources and consistent explanation of time-sensitive events.
Dependency Solving Is Still Hard, but We Are Getting Better at It
Venue: arXiv cs.SE 2020
Year: 2020

Dependency solving is a hard (NP-complete) problem in all non-trivial component models due to either mutually incompatible versions of the same packages or explicitly declared package conflicts. As such, software upgrade planning needs to rely on highly specialized dependency solvers, lest falling into pitfalls such as incompleteness-a combination of package versions that satisfy dependency constraints does exist, but the package manager is unable to find it. In this paper we look back at proposals from dependency solving research dating back a few years. Specifically, we review the idea of treating dependency solving as a separate concern in package manager implementations, relying on generic dependency solvers based on tried and tested techniques such as SAT solving, PBO, MILP, etc. By conducting a census of dependency solving capabilities in state-of-the-art package managers we conclude that some proposals are starting to take off (e.g., SAT-based dependency solving) while-with few exceptions-others have not (e.g., out-sourcing dependency solving to reusable components). We reflect on why that has been the case and look at novel challenges for dependency solving that have emerged since.
The revelation principle fails when the format of each agent's strategy is an action
Venue: arXiv cs.GT 2020
Year: 2020

In mechanism design theory, a designer would like to implement a social choice function which specifies her favorite outcome for each possible profile of agents' private types. The revelation principle asserts that if a social choice function can be implemented by a mechanism in equilibrium, then there exists a direct mechanism that can truthfully implement it. This paper aims to propose a failure of the revelation principle. We point out that in any game the format of each agent's strategy is either an informational message or a realistic action, and the action format is very common in many practical cases. The main result is that: For any given social choice function, if the mechanism which implements it has action-format strategies, then "\emph{honest and obedient}" will no longer be the Bayesian Nash equilibrium of the direct mechanism, actually the social choice function can only be implemented "\emph{dishonestly and disobediently}" in Bayesian Nash equilibrium by the direct mechanism. Consequently, the revelation principle fails when the format of each agent's strategy is an action.
Do Offline Metrics Predict Online Performance in Recommender Systems?
Venue: arXiv cs.IR 2020
Year: 2020

Recommender systems operate in an inherently dynamical setting. Past recommendations influence future behavior, including which data points are observed and how user preferences change. However, experimenting in production systems with real user dynamics is often infeasible, and existing simulation-based approaches have limited scale. As a result, many state-of-the-art algorithms are designed to solve supervised learning problems, and progress is judged only by offline metrics. In this work we investigate the extent to which offline metrics predict online performance by evaluating eleven recommenders across six controlled simulated environments. We observe that offline metrics are correlated with online performance over a range of environments. However, improvements in offline metrics lead to diminishing returns in online performance. Furthermore, we observe that the ranking of recommenders varies depending on the amount of initial offline data available. We study the impact of adding exploration strategies, and observe that their effectiveness, when compared to greedy recommendation, is highly dependent on the recommendation algorithm. We provide the environments and recommenders described in this paper as Reclab: an extensible ready-to-use simulation framework at https://github.com/berkeley-reclab/RecLab.
Modeling, Reduction, and Control of a Helically Actuated Inertial Soft Robotic Arm via the Koopman Operator
Venue: arXiv cs.RO 2020
Year: 2020

Soft robots promise improved safety and capability over rigid robots when deployed in complex, delicate, and dynamic environments. However, the infinite degrees of freedom and highly nonlinear dynamics of these systems severely complicate their modeling and control. As a step toward addressing this open challenge, we apply the data-driven, Hankel Dynamic Mode Decomposition (HDMD) with time delay observables to the model identification of a highly inertial, helical soft robotic arm with a high number of underactuated degrees of freedom. The resulting model is linear and hence amenable to control via a Linear Quadratic Regulator (LQR). Using our test bed device, a dynamic, lightweight pneumatic fabric arm with an inertial mass at the tip, we show that the combination of HDMD and LQR allows us to command our robot to achieve arbitrary poses using only open loop control. We further show that Koopman spectral analysis gives us a dimensionally reduced basis of modes which decreases computational complexity without sacrificing predictive power.
Mobile Manipulator for Autonomous Localization, Grasping and Precise Placement of Construction Material in a Semi-structured Environment
Venue: arXiv cs.RO 2020
Year: 2020

Mobile manipulators have the potential to revolutionize modern agriculture, logistics and manufacturing. In this work, we present the design of a ground-based mobile manipulator for automated structure assembly. The proposed system is capable of autonomous localization, grasping, transportation and deployment of construction material in a semi-structured environment. Special effort was put into making the system invariant to lighting changes, and not reliant on external positioning systems. Therefore, the presented system is self-contained and capable of operating in outdoor and indoor conditions alike. Finally, we present means to extend the perceptive radius of the vehicle by using it in cooperation with an autonomous drone, which provides aerial reconnaissance. Performance of the proposed system has been evaluated in a series of experiments conducted in real-world conditions.
FRDet: Balanced and Lightweight Object Detector based on Fire-Residual Modules for Embedded Processor of Autonomous Driving
Venue: arXiv cs.CV 2020
Year: 2020

For deployment on an embedded processor for autonomous driving, the object detection network should satisfy all of the accuracy, real-time inference, and light model size requirements. Conventional deep CNN-based detectors aim for high accuracy, making their model size heavy for an embedded system with limited memory space. In contrast, lightweight object detectors are greatly compressed but at a significant sacrifice of accuracy. Therefore, we propose FRDet, a lightweight one-stage object detector that is balanced to satisfy all the constraints of accuracy, model size, and real-time processing on an embedded GPU processor for autonomous driving applications. Our network aims to maximize the compression of the model while achieving or surpassing YOLOv3 level of accuracy. This paper proposes the Fire-Residual (FR) module to design a lightweight network with low accuracy loss by adapting fire modules with residual skip connections. In addition, the Gaussian uncertainty modeling of the bounding box is applied to further enhance the localization accuracy. Experiments on the KITTI dataset showed that FRDet reduced the memory size by 50.8% but achieved higher accuracy by 1.12% mAP compared to YOLOv3. Moreover, the real-time detection speed reached 31.3 FPS on an embedded GPU board(NVIDIA Xavier). The proposed network achieved higher compression with comparable accuracy compared to other deep CNN object detectors while showing improved accuracy than the lightweight detector baselines. Therefore, the proposed FRDet is a well-balanced and efficient object detector for practical application in autonomous driving that can satisfies all the criteria of accuracy, real-time inference, and light model size.
A comparative study of semi- and self-supervised semantic segmentation of biomedical microscopy data
Venue: arXiv cs.CV 2020
Year: 2020

In recent years, Convolutional Neural Networks (CNNs) have become the state-of-the-art method for biomedical image analysis. However, these networks are usually trained in a supervised manner, requiring large amounts of labelled training data. These labelled data sets are often difficult to acquire in the biomedical domain. In this work, we validate alternative ways to train CNNs with fewer labels for biomedical image segmentation using. We adapt two semi- and self-supervised image classification methods and analyse their performance for semantic segmentation of biomedical microscopy images.
Explainable Artificial Intelligence Recommendation System by Leveraging the Semantics of Adverse Childhood Experiences: Proof-of-Concept Prototype Development
Venue: arXiv cs.AI 2020
Year: 2020

The study of adverse childhood experiences and their consequences has emerged over the past 20 years. In this study, we aimed to leverage explainable artificial intelligence, and propose a proof-of-concept prototype for a knowledge-driven evidence-based recommendation system to improve surveillance of adverse childhood experiences. We used concepts from an ontology that we have developed to build and train a question-answering agent using the Google DialogFlow engine. In addition to the question-answering agent, the initial prototype includes knowledge graph generation and recommendation components that leverage third-party graph technology. To showcase the framework functionalities, we here present a prototype design and demonstrate the main features through four use case scenarios motivated by an initiative currently implemented at a children hospital in Memphis, Tennessee. Ongoing development of the prototype requires implementing an optimization algorithm of the recommendations, incorporating a privacy layer through a personal health library, and conducting a clinical trial to assess both usability and usefulness of the implementation. This semantic-driven explainable artificial intelligence prototype can enhance health care practitioners ability to provide explanations for the decisions they make.
Recovering and Simulating Pedestrians in the Wild
Venue: arXiv cs.CV 2020
Year: 2020

Sensor simulation is a key component for testing the performance of self-driving vehicles and for data augmentation to better train perception systems. Typical approaches rely on artists to create both 3D assets and their animations to generate a new scenario. This, however, does not scale. In contrast, we propose to recover the shape and motion of pedestrians from sensor readings captured in the wild by a self-driving car driving around. Towards this goal, we formulate the problem as energy minimization in a deep structured model that exploits human shape priors, reprojection consistency with 2D poses extracted from images, and a ray-caster that encourages the reconstructed mesh to agree with the LiDAR readings. Importantly, we do not require any ground-truth 3D scans or 3D pose annotations. We then incorporate the reconstructed pedestrian assets bank in a realistic LiDAR simulation system by performing motion retargeting, and show that the simulated LiDAR data can be used to significantly reduce the amount of annotated real-world data required for visual perception tasks.
On the Marginal Benefit of Active Learning: Does Self-Supervision Eat Its Cake?
Venue: arXiv cs.LG 2020
Year: 2020

Active learning is the set of techniques for intelligently labeling large unlabeled datasets to reduce the labeling effort. In parallel, recent developments in self-supervised and semi-supervised learning (S4L) provide powerful techniques, based on data-augmentation, contrastive learning, and self-training, that enable superior utilization of unlabeled data which led to a significant reduction in required labeling in the standard machine learning benchmarks. A natural question is whether these paradigms can be unified to obtain superior results. To this aim, this paper provides a novel algorithmic framework integrating self-supervised pretraining, active learning, and consistency-regularized self-training. We conduct extensive experiments with our framework on CIFAR10 and CIFAR100 datasets. These experiments enable us to isolate and assess the benefits of individual components which are evaluated using state-of-the-art methods (e.g.~Core-Set, VAAL, simCLR, FixMatch). Our experiments reveal two key insights: (i) Self-supervised pre-training significantly improves semi-supervised learning, especially in the few-label regime, (ii) The benefit of active learning is undermined and subsumed by S4L techniques. Specifically, we fail to observe any additional benefit of state-of-the-art active learning algorithms when combined with state-of-the-art S4L techniques.
The Influence of Domain-Based Preprocessing on Subject-Specific Clustering
Venue: arXiv cs.LG 2020
Year: 2020

The sudden change of moving the majority of teaching online at Universities due to the global Covid-19 pandemic has caused an increased amount of workload for academics. One of the contributing factors is answering a high volume of queries coming from students. As these queries are not limited to the synchronous time frame of a lecture, there is a high chance of many of them being related or even equivalent. One way to deal with this problem is to cluster these questions depending on their topic. In our previous work, we aimed to find an improved method of clustering that would give us a high efficiency, using a recurring LDA model. Our data set contained questions posted online from a Computer Science course at the University of Bath. A significant number of these questions contained code excerpts, which we found caused a problem in clustering, as certain terms were being considered as common words in the English language and not being recognised as specific code terms. To address this, we implemented tagging of these technical terms using Python, as part of preprocessing the data set. In this paper, we explore the realms of tagging data sets, focusing on identifying code excerpts and providing empirical results in order to justify our reasoning.